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<div class="title">octree_base.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012, Urban Robotics, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *  $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_OUTOFCORE_OCTREE_BASE_IMPL_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_OUTOFCORE_OCTREE_BASE_IMPL_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/outofcore/octree_base.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">// JSON</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/outofcore/cJSON.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/random_sample.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/extract_indices.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment">// C++</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#include &lt;exception&gt;</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;{</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">namespace </span>outofcore</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="comment">//Static constants</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;    </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">const</span> std::string <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aac1a5fb289f9bac470d291f8632e412d">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::TREE_EXTENSION_</a> = <span class="stringliteral">&quot;.octree&quot;</span>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::OUTOFCORE_VERSION_ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(3);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a5179d99711863596f23e95f6fb5d8e43">   77</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a5179d99711863596f23e95f6fb5d8e43">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::OutofcoreOctreeBase</a> (<span class="keyword">const</span> boost::filesystem::path&amp; root_name, <span class="keyword">const</span> <span class="keywordtype">bool</span> load_all)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      : root_node_ ()</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      , read_write_mutex_ ()</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      , metadata_ (new <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_metadata.html">OutofcoreOctreeBaseMetadata</a> ())</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      , sample_percent_ (0.125)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      , lod_filter_ptr_ (new pcl::<a class="code" href="classpcl_1_1_random_sample.html">RandomSample</a>&lt;pcl::<a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a>&gt; ())</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="comment">//validate the root filename</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keywordflow">if</span> (!this-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a7ff969ea904c00109ed88879bde8d83c">checkExtension</a> (root_name))</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_p_c_l_exception.html">PCLException</a>, <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBase] Bad extension. Outofcore Octrees must have a root node ending in .oct_idx\n&quot;</span>);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="comment">// Create root_node_node</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aeb7b74e9982817c45349b4bfdc951b69">root_node_</a> = <span class="keyword">new</span> <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;</a> (root_name, NULL, load_all);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="comment">// Set root_node_nodes tree to the newly created tree</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aeb7b74e9982817c45349b4bfdc951b69">root_node_</a>-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a4f620ffb1ce5fdf0e2d0bd93b1617e9a">m_tree_</a> = <span class="keyword">this</span>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="comment">// Set the path to the outofcore octree metadata (unique to the root folder) ending in .octree</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      boost::filesystem::path treepath = root_name.parent_path () / (boost::filesystem::basename (root_name) + <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aac1a5fb289f9bac470d291f8632e412d">TREE_EXTENSION_</a>);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="comment">//Load the JSON metadata</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      metadata_-&gt;loadMetadataFromDisk (treepath);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a57cd914fb11ce81178025c18e33504b0">  105</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a5179d99711863596f23e95f6fb5d8e43">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::OutofcoreOctreeBase</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min, <span class="keyword">const</span> Eigen::Vector3d&amp; max, <span class="keyword">const</span> <span class="keywordtype">double</span> resolution_arg, <span class="keyword">const</span> boost::filesystem::path&amp; root_node_name, <span class="keyword">const</span> std::string&amp; coord_sys)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      : root_node_()</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      , read_write_mutex_ ()</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      , metadata_ (new <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_metadata.html">OutofcoreOctreeBaseMetadata</a> ())</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      , sample_percent_ (0.125)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      , lod_filter_ptr_ (new pcl::<a class="code" href="classpcl_1_1_random_sample.html">RandomSample</a>&lt;pcl::<a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a>&gt; ())</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="comment">//Enlarge the bounding box to a cube so our voxels will be cubes</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      Eigen::Vector3d tmp_min = min;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      Eigen::Vector3d tmp_max = max;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      this-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ad6a7ce11ab3f3b52d0b43cf936e28cf1">enlargeToCube</a> (tmp_min, tmp_max);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="comment">//Compute the depth of the tree given the resolution</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      boost::uint64_t depth = this-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ae79f800d8cf85af8c175eef668e773a6">calculateDepth</a> (tmp_min, tmp_max, resolution_arg);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="comment">//Create a new outofcore tree</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      this-&gt;init (depth, tmp_min, tmp_max, root_node_name, coord_sys);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a54788b52aa04f6fcf661477bf0945fc0">  127</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a5179d99711863596f23e95f6fb5d8e43">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::OutofcoreOctreeBase</a> (<span class="keyword">const</span> boost::uint64_t max_depth, <span class="keyword">const</span> Eigen::Vector3d&amp; min, <span class="keyword">const</span> Eigen::Vector3d&amp; max, <span class="keyword">const</span> boost::filesystem::path&amp; root_node_name, <span class="keyword">const</span> std::string&amp; coord_sys)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      : root_node_()</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      , read_write_mutex_ ()</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      , metadata_ (new <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_metadata.html">OutofcoreOctreeBaseMetadata</a> ())</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      , sample_percent_ (0.125)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      , lod_filter_ptr_ (new pcl::<a class="code" href="classpcl_1_1_random_sample.html">RandomSample</a>&lt;pcl::<a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a>&gt; ())</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="comment">//Create a new outofcore tree</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      this-&gt;init (max_depth, min, max, root_node_name, coord_sys);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::init</a> (<span class="keyword">const</span> uint64_t&amp; depth, <span class="keyword">const</span> Eigen::Vector3d&amp; min, <span class="keyword">const</span> Eigen::Vector3d&amp; max, <span class="keyword">const</span> boost::filesystem::path&amp; root_name, <span class="keyword">const</span> std::string&amp; coord_sys)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    {</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="comment">//Validate the extension of the pathname</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keywordflow">if</span> (!this-&gt;checkExtension (root_name))</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      {</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_p_c_l_exception.html">PCLException</a>, <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBase] Bad extension. Outofcore Octrees must have a root node ending in .oct_idx\n&quot;</span>);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="comment">//Check to make sure that we are not overwriting existing data</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keywordflow">if</span> (boost::filesystem::exists (root_name.parent_path ()))</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        PCL_ERROR (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBase] A dir named %s already exists. Overwriting an existing tree is not supported.\n&quot;</span>, root_name.parent_path ().c_str () );</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        PCL_THROW_EXCEPTION ( <a class="code" href="classpcl_1_1_p_c_l_exception.html">PCLException</a>, <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBase] Directory exists; Overwriting an existing tree is not supported\n&quot;</span>);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="comment">// Get fullpath and recreate directories</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      boost::filesystem::path dir = root_name.parent_path ();</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keywordflow">if</span> (!boost::filesystem::exists (dir))</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      {</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        boost::filesystem::create_directory (dir);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      Eigen::Vector3d tmp_min = min;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      Eigen::Vector3d tmp_max = max;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      this-&gt;enlargeToCube (tmp_min, tmp_max);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="comment">// Create root node</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      root_node_= <span class="keyword">new</span> OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt; (tmp_min, tmp_max, <span class="keyword">this</span>, root_name);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      root_node_-&gt;m_tree_ = <span class="keyword">this</span>;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="comment">// Set root nodes file path</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      boost::filesystem::path treepath = dir / (boost::filesystem::basename (root_name) + TREE_EXTENSION_);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="comment">//fill the fields of the metadata</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      metadata_-&gt;setCoordinateSystem (coord_sys);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      metadata_-&gt;setDepth (depth);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      metadata_-&gt;setLODPoints (depth+1);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      metadata_-&gt;setMetadataFilename (treepath);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      metadata_-&gt;setOutofcoreVersion (OUTOFCORE_VERSION_);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="comment">//metadata_-&gt;setPointType ( &lt;point type string here&gt; );</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="comment">//save to disk</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      metadata_-&gt;serializeMetadataToDisk ();</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::~OutofcoreOctreeBase ()</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      root_node_-&gt;flushToDiskRecursive ();</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      saveToFile ();</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="keyword">delete</span> (root_node_);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ad68edd845380ab62afecead45d63e84c">  200</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ad68edd845380ab62afecead45d63e84c">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::saveToFile</a> ()</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      this-&gt;metadata_-&gt;serializeMetadataToDisk ();</div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a5179d99711863596f23e95f6fb5d8e43">  203</a></span>&#160;    }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::uint64_t</div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ab9949de562ff8a27b5f59ded5c66228f">  208</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ab9949de562ff8a27b5f59ded5c66228f">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::addDataToLeaf</a> (<span class="keyword">const</span> AlignedPointTVector&amp; p)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      boost::unique_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">bool</span> _FORCE_BB_CHECK = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      uint64_t pt_added = root_node_-&gt;addDataToLeaf (p, _FORCE_BB_CHECK);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      assert (p.size () == pt_added);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a57cd914fb11ce81178025c18e33504b0">  218</a></span>&#160;      <span class="keywordflow">return</span> (pt_added);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    }</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::uint64_t</div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#af9935cc37d3d7a446d73ab14636b5496">  224</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#af9935cc37d3d7a446d73ab14636b5496">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::addPointCloud</a> (PointCloudConstPtr point_cloud)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    {</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="keywordflow">return</span> (addDataToLeaf (point_cloud-&gt;points));</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::uint64_t</div>
<div class="line"><a name="l00232"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a9111fda6d22e8c21766b42facaca2d63">  232</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#af9935cc37d3d7a446d73ab14636b5496">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::addPointCloud</a> (pcl::PCLPointCloud2::Ptr &amp;input_cloud, <span class="keyword">const</span> <span class="keywordtype">bool</span> skip_bb_check)</div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a54788b52aa04f6fcf661477bf0945fc0">  233</a></span>&#160;    {</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      uint64_t pt_added = this-&gt;root_node_-&gt;addPointCloud (input_cloud, skip_bb_check) ;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="comment">//      assert (input_cloud-&gt;width*input_cloud-&gt;height == pt_added);</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keywordflow">return</span> (pt_added);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    }</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::uint64_t</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aa529ccd903769b78d419ea8c12a62b93">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::addPointCloud_and_genLOD</a> (PointCloudConstPtr point_cloud)</div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ab9949de562ff8a27b5f59ded5c66228f">  244</a></span>&#160;    {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      <span class="comment">// Lock the tree while writing</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      boost::unique_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      boost::uint64_t pt_added = root_node_-&gt;addDataToLeaf_and_genLOD (point_cloud-&gt;points, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <span class="keywordflow">return</span> (pt_added);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    }</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#af9935cc37d3d7a446d73ab14636b5496">  253</a></span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::uint64_t</div>
<div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aa529ccd903769b78d419ea8c12a62b93">  254</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aa529ccd903769b78d419ea8c12a62b93">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::addPointCloud_and_genLOD</a> (pcl::PCLPointCloud2::Ptr &amp;input_cloud)</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    {</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="comment">// Lock the tree while writing</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      boost::unique_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      boost::uint64_t pt_added = root_node_-&gt;addPointCloud_and_genLOD (input_cloud);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBase::%s] Points added %lu, points in input cloud, %lu\n&quot;</span>,__FUNCTION__, pt_added, input_cloud-&gt;width*input_cloud-&gt;height );</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a9111fda6d22e8c21766b42facaca2d63">  262</a></span>&#160;      assert ( input_cloud-&gt;width*input_cloud-&gt;height == pt_added );</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      <span class="keywordflow">return</span> (pt_added);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    }</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::uint64_t</div>
<div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ae45a9210229dff9276e79796147b941c">  270</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ae45a9210229dff9276e79796147b941c">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::addDataToLeaf_and_genLOD</a> (AlignedPointTVector&amp; src)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    {</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <span class="comment">// Lock the tree while writing</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      boost::unique_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      boost::uint64_t pt_added = root_node_-&gt;addDataToLeaf_and_genLOD (src, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keywordflow">return</span> (pt_added);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    }</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Container, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html">OutofcoreOctreeBase&lt;Container, PointT&gt;::queryFrustum</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> planes[24], std::list&lt;std::string&gt;&amp; file_names)<span class="keyword"> const</span></div>
<div class="line"><a name="l00282"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aa529ccd903769b78d419ea8c12a62b93">  282</a></span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      boost::shared_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      root_node_-&gt;queryFrustum (planes, file_names, this-&gt;getTreeDepth());</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    }</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Container, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html">OutofcoreOctreeBase&lt;Container, PointT&gt;::queryFrustum</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> *planes, std::list&lt;std::string&gt;&amp; file_names, <span class="keyword">const</span> boost::uint32_t query_depth)<span class="keyword"> const</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      boost::shared_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      root_node_-&gt;queryFrustum (planes, file_names, query_depth);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    }</div>
<div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ae45a9210229dff9276e79796147b941c">  295</a></span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Container, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html">OutofcoreOctreeBase&lt;Container, PointT&gt;::queryFrustum</a> (</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span> *planes, </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        <span class="keyword">const</span> Eigen::Vector3d &amp;eye, </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        <span class="keyword">const</span> Eigen::Matrix4d &amp;view_projection_matrix, </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        std::list&lt;std::string&gt;&amp; file_names, </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        <span class="keyword">const</span> boost::uint32_t query_depth)<span class="keyword"> const</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      boost::shared_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      root_node_-&gt;queryFrustum (planes, eye, view_projection_matrix, file_names, query_depth);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    }</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a28a9432ba893f51f530216d0fb9493f0">  313</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a28a9432ba893f51f530216d0fb9493f0">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::queryBBIncludes</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min, <span class="keyword">const</span> Eigen::Vector3d&amp; max, <span class="keyword">const</span> boost::uint64_t query_depth, AlignedPointTVector&amp; dst)<span class="keyword"> const</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      boost::shared_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      dst.clear ();</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] Querying Bounding Box %.2lf %.2lf %.2lf, %.2lf %.2lf %.2lf&quot;</span>, min[0], min[1], min[2], max[0], max[1], max[2]);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      root_node_-&gt;queryBBIncludes (min, max, query_depth, dst);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    }</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#add153493b87d05fe3056c915af660e09">  322</a></span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a38d9c6517985a17992b4e7c357a19602">  324</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a28a9432ba893f51f530216d0fb9493f0">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::queryBBIncludes</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min, <span class="keyword">const</span> Eigen::Vector3d&amp; max, <span class="keyword">const</span> boost::uint64_t query_depth, <span class="keyword">const</span> pcl::PCLPointCloud2::Ptr&amp; dst_blob)<span class="keyword"> const</span></div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      boost::shared_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      dst_blob-&gt;data.clear ();</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      dst_blob-&gt;width = 0;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      dst_blob-&gt;height =1;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      root_node_-&gt;queryBBIncludes ( min, max, query_depth, dst_blob );</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    }</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a28a9432ba893f51f530216d0fb9493f0">  336</a></span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00338"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aaf494098c2abc44725cfe5e9210e2bf0">  338</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aaf494098c2abc44725cfe5e9210e2bf0">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::queryBBIncludes_subsample</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min, <span class="keyword">const</span> Eigen::Vector3d&amp; max, <span class="keyword">const</span> boost::uint64_t query_depth, <span class="keyword">const</span> <span class="keywordtype">double</span> percent, AlignedPointTVector&amp; dst)<span class="keyword"> const</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      boost::shared_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      dst.clear ();</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      root_node_-&gt;queryBBIncludes_subsample (min, max, query_depth, percent, dst);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    }</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a38d9c6517985a17992b4e7c357a19602">  346</a></span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00347"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a78e22dfa93a11f383e9bf878801f17c7">  347</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a78e22dfa93a11f383e9bf878801f17c7">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::queryBoundingBox</a> (<span class="keyword">const</span> Eigen::Vector3d &amp;min, <span class="keyword">const</span> Eigen::Vector3d &amp;max, <span class="keyword">const</span> <span class="keywordtype">int</span> query_depth, <span class="keyword">const</span> pcl::PCLPointCloud2::Ptr &amp;dst_blob, <span class="keywordtype">double</span> percent)</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    {</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      <span class="keywordflow">if</span> (percent==1.0)</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      {</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        root_node_-&gt;queryBBIncludes (min, max, query_depth, dst_blob);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      }</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      {</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        root_node_-&gt;queryBBIncludes_subsample (min, max, query_depth, dst_blob, percent);</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      }</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    }</div>
<div class="line"><a name="l00358"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aaf494098c2abc44725cfe5e9210e2bf0">  358</a></span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160; </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00362"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a6fc174b7881c9398c29c3f475c8f859d">  362</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a6fc174b7881c9398c29c3f475c8f859d">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::getBoundingBox</a> (Eigen::Vector3d &amp;min, Eigen::Vector3d &amp;max)<span class="keyword"> const</span></div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      <span class="keywordflow">if</span> (root_node_!= NULL)</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      {</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        root_node_-&gt;getBoundingBox (min, max);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      }</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a78e22dfa93a11f383e9bf878801f17c7">  373</a></span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00375"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a4a536d621e95e59d1370a24bc0009a04">  375</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a9d5836dca2e0f777f61382e7bbf82b52">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::printBoundingBox</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> query_depth)<span class="keyword"> const</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      boost::shared_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      root_node_-&gt;printBoundingBox (query_depth);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    }</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; </div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00384"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a77fd4203868a748bf8671cba4b328297">  384</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a77fd4203868a748bf8671cba4b328297">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::getOccupiedVoxelCenters</a>(AlignedPointTVector &amp;voxel_centers, <span class="keyword">const</span> <span class="keywordtype">size_t</span> query_depth)<span class="keyword"> const</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      boost::shared_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      <span class="keywordflow">if</span> (query_depth &gt; metadata_-&gt;getDepth ()) </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      {</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        root_node_-&gt;getOccupiedVoxelCentersRecursive (voxel_centers, metadata_-&gt;getDepth ());</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      }</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      {</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        root_node_-&gt;getOccupiedVoxelCentersRecursive (voxel_centers, query_depth);</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      }</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    }</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a6fc174b7881c9398c29c3f475c8f859d">  398</a></span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00400"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a502807c3d76874c2d3b990a810a6ec32">  400</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a77fd4203868a748bf8671cba4b328297">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::getOccupiedVoxelCenters</a>(std::vector&lt;Eigen::Vector3d, Eigen::aligned_allocator&lt;Eigen::Vector3d&gt; &gt; &amp;voxel_centers, <span class="keyword">const</span> <span class="keywordtype">size_t</span> query_depth)<span class="keyword"> const</span></div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      boost::shared_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      <span class="keywordflow">if</span> (query_depth &gt; metadata_-&gt;getDepth ())</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      {</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;        root_node_-&gt;getOccupiedVoxelCentersRecursive (voxel_centers, metadata_-&gt;getDepth ());</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;      }</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      {</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;        root_node_-&gt;getOccupiedVoxelCentersRecursive (voxel_centers, query_depth);</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      }</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    }</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00416"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#add153493b87d05fe3056c915af660e09">  416</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#add153493b87d05fe3056c915af660e09">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::queryBBIntersects</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min, <span class="keyword">const</span> Eigen::Vector3d&amp; max, <span class="keyword">const</span> boost::uint32_t query_depth, std::list&lt;std::string&gt;&amp; bin_name)<span class="keyword"> const</span></div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      boost::shared_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;      bin_name.clear ();</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;<span class="preprocessor">#if defined _MSC_VER</span></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;<span class="preprocessor">  #pragma warning(push)</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;<span class="preprocessor">  #pragma warning(disable : 4267)</span></div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      root_node_-&gt;queryBBIntersects (min, max, query_depth, bin_name);</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;<span class="preprocessor">#if defined _MSC_VER</span></div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;<span class="preprocessor">  #pragma warning(pop)</span></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    }</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00433"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a5e45f536c703b713034fb558ffb120a8">  433</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a5e45f536c703b713034fb558ffb120a8">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::writeVPythonVisual</a> (<span class="keyword">const</span> boost::filesystem::path filename)</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    {</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;      std::ofstream f (filename.c_str ());</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160; </div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      f &lt;&lt; <span class="stringliteral">&quot;from visual import *\n\n&quot;</span>;</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;      root_node_-&gt;writeVPythonVisual (f);</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    }</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00445"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a96b5cd1cd503b45587ace58f25261d66">  445</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a96b5cd1cd503b45587ace58f25261d66">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::flushToDisk</a> ()</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;    {</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;      root_node_-&gt;flushToDisk ();</div>
<div class="line"><a name="l00448"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a85c71b6e26801a60d735e8e02810ddd5">  448</a></span>&#160;    }</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160; </div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00453"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a775eca5a56a0386a96a34f6ca11b1b04">  453</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a775eca5a56a0386a96a34f6ca11b1b04">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::flushToDiskLazy</a> ()</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    {</div>
<div class="line"><a name="l00455"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a45bad619558c5662ebca68331b941c5d">  455</a></span>&#160;      root_node_-&gt;flushToDiskLazy ();</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    }</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160; </div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00461"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a486d577a151fc9d239ce0c5847404857">  461</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a486d577a151fc9d239ce0c5847404857">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::convertToXYZ</a> ()</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    {</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;      saveToFile ();</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      root_node_-&gt;convertToXYZ ();</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    }</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160; </div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160; </div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00470"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a010534fb915cc90f68375bc4bc49ce51">  470</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a010534fb915cc90f68375bc4bc49ce51">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::DeAllocEmptyNodeCache</a> ()</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;    {</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;      DeAllocEmptyNodeCache (root_node_);</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;    }</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160; </div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;   <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a010534fb915cc90f68375bc4bc49ce51">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::DeAllocEmptyNodeCache</a> (<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;</a>* current)</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    {</div>
<div class="line"><a name="l00480"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a584cd23262207c96c2dd9f7479c1ec09">  480</a></span>&#160;      <span class="keywordflow">if</span> (current-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a592ba5034ef1efc36a9ebaeb7d06d92a">size</a> () == 0)</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      {</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;        current-&gt;flush_DeAlloc_this_only ();</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      }</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00485"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a4a536d621e95e59d1370a24bc0009a04">  485</a></span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; current-&gt;numchildren (); i++)</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;      {</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;        DeAllocEmptyNodeCache (current-&gt;children[i]);</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;      }</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160; </div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;    }</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160; </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;*</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::getBranchChildPtr (<span class="keyword">const</span> BranchNode&amp; branch_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> childIdx_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;      <span class="keywordflow">return</span> (branch_arg.getChildPtr (childIdx_arg));</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    }      </div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160; </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <a class="code" href="classpcl_1_1_filter.html">pcl::Filter&lt;pcl::PCLPointCloud2&gt;::Ptr</a></div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::getLODFilter ()</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    {</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      <span class="keywordflow">return</span> (lod_filter_ptr_);</div>
<div class="line"><a name="l00504"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a77fd4203868a748bf8671cba4b328297">  504</a></span>&#160;    }</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160; </div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">const</span> <a class="code" href="classpcl_1_1_filter.html">pcl::Filter&lt;pcl::PCLPointCloud2&gt;::ConstPtr</a></div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::getLODFilter</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00511"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a502807c3d76874c2d3b990a810a6ec32">  511</a></span>&#160;      <span class="keywordflow">return</span> (lod_filter_ptr_);</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    }</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160; </div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00517"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ae9c467ba6aef4639fc870bb78d5585ce">  517</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ae9c467ba6aef4639fc870bb78d5585ce">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::setLODFilter</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_filter.html">pcl::Filter&lt;pcl::PCLPointCloud2&gt;::Ptr</a>&amp; filter_arg)</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;    {</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;      lod_filter_ptr_ = filter_arg;</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;    }</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160; </div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160; </div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00525"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a85c71b6e26801a60d735e8e02810ddd5">  525</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a85c71b6e26801a60d735e8e02810ddd5">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::getBinDimension</a> (<span class="keywordtype">double</span>&amp; x, <span class="keywordtype">double</span>&amp; y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;      <span class="keywordflow">if</span> (root_node_== NULL)</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;      {</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;        x = 0;</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;        y = 0;</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;      }</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160; </div>
<div class="line"><a name="l00534"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a486d577a151fc9d239ce0c5847404857">  534</a></span>&#160;      Eigen::Vector3d min, max;</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;      this-&gt;getBoundingBox (min, max);</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;      </div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;      <span class="keywordtype">double</span> depth = <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (metadata_-&gt;getDepth ());</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;      Eigen::Vector3d diff = max-min;</div>
<div class="line"><a name="l00539"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a5e45f536c703b713034fb558ffb120a8">  539</a></span>&#160; </div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;      y = diff[1] * pow (.5, depth);</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;      x = diff[0] * pow (.5, depth);</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160; </div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;    }</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160; </div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00549"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a45bad619558c5662ebca68331b941c5d">  549</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a7503db4c6b543960b5de57d545cdb9fa">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::getVoxelSideLength</a> (<span class="keyword">const</span> boost::uint64_t&amp; depth)<span class="keyword"> const</span></div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;      Eigen::Vector3d min, max;</div>
<div class="line"><a name="l00552"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ae9c467ba6aef4639fc870bb78d5585ce">  552</a></span>&#160;      this-&gt;getBoundingBox (min, max);</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;      <span class="keywordtype">double</span> result = (max[0] - min[0]) * pow (.5, <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (metadata_-&gt;getDepth ())) * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (1 &lt;&lt; (metadata_-&gt;getDepth () - depth));</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;      <span class="keywordflow">return</span> (result);</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    }</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160; </div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160; </div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00560"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a584cd23262207c96c2dd9f7479c1ec09">  560</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a584cd23262207c96c2dd9f7479c1ec09">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::buildLOD</a> ()</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;    {</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;      <span class="keywordflow">if</span> (root_node_== NULL)</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;      {</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;        PCL_ERROR (<span class="stringliteral">&quot;Root node is null; aborting buildLOD.\n&quot;</span>);</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;      }</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160; </div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;      boost::unique_lock &lt; boost::shared_mutex &gt; lock (read_write_mutex_);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160; </div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> number_of_nodes = 1;</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160; </div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;      std::vector&lt;BranchNode*&gt; current_branch (number_of_nodes, <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">BranchNode</a>*<span class="keyword">&gt;</span>(0));</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;      current_branch[0] = root_node_;</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;      assert (current_branch.back () != 0);</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;      this-&gt;buildLODRecursive (current_branch);</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;    }</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160; </div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160; </div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a9d5836dca2e0f777f61382e7bbf82b52">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::printBoundingBox</a> (<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;</a>&amp; node)<span class="keyword"> const</span></div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;      Eigen::Vector3d min, max;</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;      node.<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a02626db7622e8b8734750987ec66f973">getBoundingBox</a> (min,max);</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;      PCL_INFO (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBase::%s] min(%lf,%lf,%lf), max(%lf,%lf,%lf)\n&quot;</span>, __FUNCTION__, min[0], min[1], min[2], max[0], max[1], max[2]);      </div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;    }</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;    </div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160; </div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160; </div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00592"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aa9a1b79193cb7b3313b5c5a4cabae515">  592</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aa9a1b79193cb7b3313b5c5a4cabae515">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::buildLODRecursive</a> (<span class="keyword">const</span> std::vector&lt;BranchNode*&gt;&amp; current_branch)</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;    {</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;%s Building LOD at depth %d&quot;</span>,__PRETTY_FUNCTION__, current_branch.size ());</div>
<div class="line"><a name="l00595"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ad68edd845380ab62afecead45d63e84c">  595</a></span>&#160;      </div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;      <span class="keywordflow">if</span> (!current_branch.back ())</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;      {</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00599"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aa9a1b79193cb7b3313b5c5a4cabae515">  599</a></span>&#160;      }</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;      </div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;      <span class="keywordflow">if</span> (current_branch.back ()-&gt;getNodeType () == pcl::octree::LEAF_NODE)</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;      {</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;        assert (current_branch.back ()-&gt;getDepth () == this-&gt;getDepth ());</div>
<div class="line"><a name="l00604"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ad947ba219d7372986f74557f90d57f9d">  604</a></span>&#160;        </div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">BranchNode</a>* leaf = current_branch.back ();</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160; </div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;        pcl::PCLPointCloud2::Ptr leaf_input_cloud (<span class="keyword">new</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> ());</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;        <span class="comment">//read the data from the PCD file associated with the leaf; it is full resolution</span></div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;        leaf-&gt;read (leaf_input_cloud);</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;        assert (leaf_input_cloud-&gt;width*leaf_input_cloud-&gt;height &gt; 0);</div>
<div class="line"><a name="l00611"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a7ff969ea904c00109ed88879bde8d83c">  611</a></span>&#160;        </div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;        <span class="comment">//go up the tree, re-downsampling the full resolution leaf cloud at lower and lower resolution</span></div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;        <span class="keywordflow">for</span> (int64_t level = <span class="keyword">static_cast&lt;</span>int64_t<span class="keyword">&gt;</span>(current_branch.size ()-1); level &gt;= 1; level--)</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;        {</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;          <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">BranchNode</a>* target_parent = current_branch[level-1];</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;          assert (target_parent != 0);</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;          <span class="keywordtype">double</span> exponent = <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(current_branch.size () - target_parent-&gt;getDepth ());</div>
<div class="line"><a name="l00618"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a96b5cd1cd503b45587ace58f25261d66">  618</a></span>&#160;          <span class="keywordtype">double</span> current_depth_sample_percent = pow (sample_percent_, exponent);</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160; </div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;          assert (current_depth_sample_percent &gt; 0.0);</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;          <span class="comment">//------------------------------------------------------------</span></div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;          <span class="comment">//subsample data:</span></div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;          <span class="comment">//   1. Get indices from a random sample</span></div>
<div class="line"><a name="l00624"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a775eca5a56a0386a96a34f6ca11b1b04">  624</a></span>&#160;          <span class="comment">//   2. Extract those indices with the extract indices class (in order to also get the complement)</span></div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;          <span class="comment">//------------------------------------------------------------</span></div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160; </div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;          lod_filter_ptr_-&gt;setInputCloud (leaf_input_cloud);</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160; </div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;          <span class="comment">//set sample size to 1/8 of total points (12.5%)</span></div>
<div class="line"><a name="l00630"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a010534fb915cc90f68375bc4bc49ce51">  630</a></span>&#160;          uint64_t sample_size = <span class="keyword">static_cast&lt;</span>uint64_t<span class="keyword">&gt;</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (leaf_input_cloud-&gt;width*leaf_input_cloud-&gt;height) * current_depth_sample_percent);</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160; </div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;          <span class="keywordflow">if</span> (sample_size == 0)</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;            sample_size = 1;</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;          </div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;          lod_filter_ptr_-&gt;setSample (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span>(sample_size));</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;      </div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;          <span class="comment">//create our destination</span></div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;          pcl::PCLPointCloud2::Ptr downsampled_cloud (<span class="keyword">new</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> ());</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160; </div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;          <span class="comment">//create destination for indices</span></div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;          pcl::IndicesPtr downsampled_cloud_indices (<span class="keyword">new</span> std::vector&lt; int &gt; ());</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;          lod_filter_ptr_-&gt;filter (*downsampled_cloud_indices);</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160; </div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;          <span class="comment">//extract the &quot;random subset&quot;, size by setSampleSize</span></div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;          <a class="code" href="classpcl_1_1_extract_indices_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::ExtractIndices&lt;pcl::PCLPointCloud2&gt;</a> extractor;</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;          extractor.<a class="code" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a89fd19a5d925d75f66ae4cbd137463ad">setInputCloud</a> (leaf_input_cloud);</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;          extractor.<a class="code" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a375319f0863acd9dc9e980b6c8ef2c70">setIndices</a> (downsampled_cloud_indices);</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;          extractor.filter (*downsampled_cloud);</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160; </div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;          <span class="comment">//write to the target</span></div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;          <span class="keywordflow">if</span> (downsampled_cloud-&gt;width*downsampled_cloud-&gt;height &gt; 0)</div>
<div class="line"><a name="l00652"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ad6a7ce11ab3f3b52d0b43cf936e28cf1">  652</a></span>&#160;          {</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;            target_parent-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a5afa8b2a7f8a4f2d21dbcc9cb749c993">payload_</a>-&gt;insertRange (downsampled_cloud);</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;            this-&gt;incrementPointsInLOD (target_parent-&gt;getDepth (), downsampled_cloud-&gt;width*downsampled_cloud-&gt;height);</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;          }</div>
<div class="line"><a name="l00656"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ae79f800d8cf85af8c175eef668e773a6">  656</a></span>&#160;        }</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;      }</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;      <span class="keywordflow">else</span><span class="comment">//not at leaf, keep going down</span></div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;      {</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;        <span class="comment">//clear this node while walking down the tree in case we are updating the LOD</span></div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;        current_branch.back ()-&gt;clearData ();</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;        </div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;        std::vector&lt;BranchNode*&gt; next_branch (current_branch);</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160; </div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;        <span class="keywordflow">if</span> (current_branch.back ()-&gt;hasUnloadedChildren ())</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;        {</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;          current_branch.back ()-&gt;loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;        }</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160; </div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;        {</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;          next_branch.push_back (current_branch.back ()-&gt;getChildPtr (i));</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;          <span class="comment">//skip that child if it doesn&#39;t exist</span></div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;          <span class="keywordflow">if</span> (next_branch.back () != 0)</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;            buildLODRecursive (next_branch);</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;          </div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;          next_branch.pop_back ();</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;        }</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;      }</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;    }</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160; </div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00684"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ad947ba219d7372986f74557f90d57f9d">  684</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ad947ba219d7372986f74557f90d57f9d">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::incrementPointsInLOD</a> (boost::uint64_t depth, boost::uint64_t new_point_count)</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;    {</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;      <span class="keywordflow">if</span> (std::numeric_limits&lt;uint64_t&gt;::max () - metadata_-&gt;getLODPoints (depth) &lt; new_point_count)</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;      {</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;        PCL_ERROR (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBase::incrementPointsInLOD] Overflow error. Too many points in depth %d of outofcore octree with root at %s\n&quot;</span>, depth, metadata_-&gt;getMetadataFilename().c_str());</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;        PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_p_c_l_exception.html">PCLException</a>, <span class="stringliteral">&quot;Overflow error&quot;</span>);</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;      }</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;        </div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;      metadata_-&gt;setLODPoints (depth, new_point_count, <span class="keyword">true</span> <span class="comment">/*true-&gt;increment*/</span>);</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;    }</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160; </div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160; </div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00698"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a7ff969ea904c00109ed88879bde8d83c">  698</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a7ff969ea904c00109ed88879bde8d83c">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::checkExtension</a> (<span class="keyword">const</span> boost::filesystem::path&amp; path_name)</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;    {</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;      <span class="keywordflow">if</span> (boost::filesystem::extension (path_name) != <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::node_index_extension</a>)</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;      {</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;        PCL_ERROR ( <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBase] Wrong root node file extension: %s. The tree must have a root node ending in %s\n&quot;</span>, boost::filesystem::extension (path_name).c_str (), <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::node_index_extension</a>.c_str () );</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;        <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;      }</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160; </div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;      <span class="keywordflow">return</span> (1);</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;    }</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160; </div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160; </div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00712"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ad6a7ce11ab3f3b52d0b43cf936e28cf1">  712</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ad6a7ce11ab3f3b52d0b43cf936e28cf1">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::enlargeToCube</a> (Eigen::Vector3d&amp; bb_min, Eigen::Vector3d&amp; bb_max)</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;    {</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;      Eigen::Vector3d diff = bb_max - bb_min;</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;      assert (diff[0] &gt; 0);</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;      assert (diff[1] &gt; 0);</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;      assert (diff[2] &gt; 0);</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;      Eigen::Vector3d center = (bb_max + bb_min)/2.0;</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160; </div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;      <span class="keywordtype">double</span> max_sidelength = std::max (std::max (fabs (diff[0]), fabs (diff[1])), fabs (diff[2]));</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;      assert (max_sidelength &gt; 0);</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;      bb_min = center - Eigen::Vector3d (1.0, 1.0, 1.0)*(max_sidelength/2.0);</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;      bb_max = center + Eigen::Vector3d (1.0, 1.0, 1.0)*(max_sidelength/2.0);</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;    }</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160; </div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160; </div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::uint64_t</div>
<div class="line"><a name="l00729"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ae79f800d8cf85af8c175eef668e773a6">  729</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ae79f800d8cf85af8c175eef668e773a6">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;::calculateDepth</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min_bb, <span class="keyword">const</span> Eigen::Vector3d&amp; max_bb, <span class="keyword">const</span> <span class="keywordtype">double</span> leaf_resolution)</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;    {</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;      <span class="comment">//Assume cube</span></div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;      <span class="keywordtype">double</span> side_length = max_bb[0] - min_bb[0];</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160; </div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;      <span class="keywordflow">if</span> (side_length &lt; leaf_resolution)</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;          <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;          </div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;      boost::uint64_t res = <span class="keyword">static_cast&lt;</span>boost::uint64_t<span class="keyword">&gt;</span> (std::ceil (log2f (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (side_length / leaf_resolution))));</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;      </div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBase::calculateDepth] Setting depth to %d\n&quot;</span>,res);</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;      <span class="keywordflow">return</span> (res);</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;    }</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;  }<span class="comment">//namespace outofcore</span></div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;}<span class="comment">//namespace pcl</span></div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160; </div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//PCL_OUTOFCORE_OCTREE_BASE_IMPL_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_extract_indices_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html"><div class="ttname"><a href="classpcl_1_1_extract_indices_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::ExtractIndices&lt; pcl::PCLPointCloud2 &gt;</a></div><div class="ttdoc">ExtractIndices extracts a set of indices from a point cloud.   Usage examples:</div><div class="ttdef"><b>Definition:</b> extract_indices.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class. All filters must inherit from this interface.</div><div class="ttdef"><b>Definition:</b> filter.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a375319f0863acd9dc9e980b6c8ef2c70"><div class="ttname"><a href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a375319f0863acd9dc9e980b6c8ef2c70">pcl::PCLBase&lt; pcl::PCLPointCloud2 &gt;::setIndices</a></div><div class="ttdeci">void setIndices(const IndicesPtr &amp;indices)</div><div class="ttdoc">Provide a pointer to the vector of indices that represents the input data.</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a89fd19a5d925d75f66ae4cbd137463ad"><div class="ttname"><a href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a89fd19a5d925d75f66ae4cbd137463ad">pcl::PCLBase&lt; pcl::PCLPointCloud2 &gt;::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PCLPointCloud2ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_exception_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_exception.html">pcl::PCLException</a></div><div class="ttdoc">A base class for all pcl exceptions which inherits from std::runtime_error</div><div class="ttdef"><b>Definition:</b> exceptions.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_html"><div class="ttname"><a href="classpcl_1_1_random_sample.html">pcl::RandomSample</a></div><div class="ttdoc">RandomSample applies a random sampling with uniform probability. Based off Algorithm A from the paper...</div><div class="ttdef"><b>Definition:</b> random_sample.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html">pcl::outofcore::OutofcoreOctreeBase</a></div><div class="ttdoc">This code defines the octree used for point storage at Urban Robotics.</div><div class="ttdef"><b>Definition:</b> octree_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a010534fb915cc90f68375bc4bc49ce51"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a010534fb915cc90f68375bc4bc49ce51">pcl::outofcore::OutofcoreOctreeBase::DeAllocEmptyNodeCache</a></div><div class="ttdeci">void DeAllocEmptyNodeCache()</div><div class="ttdoc">DEPRECATED - Flush empty nodes only</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:470</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a28a9432ba893f51f530216d0fb9493f0"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a28a9432ba893f51f530216d0fb9493f0">pcl::outofcore::OutofcoreOctreeBase::queryBBIncludes</a></div><div class="ttdeci">void queryBBIncludes(const Eigen::Vector3d &amp;min, const Eigen::Vector3d &amp;max, const boost::uint64_t query_depth, AlignedPointTVector &amp;dst) const</div><div class="ttdoc">Get Points in BB, only points inside BB. The query processes the data at each node,...</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:313</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a486d577a151fc9d239ce0c5847404857"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a486d577a151fc9d239ce0c5847404857">pcl::outofcore::OutofcoreOctreeBase::convertToXYZ</a></div><div class="ttdeci">void convertToXYZ()</div><div class="ttdoc">Save each .bin file as an XYZ file</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:461</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a5179d99711863596f23e95f6fb5d8e43"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a5179d99711863596f23e95f6fb5d8e43">pcl::outofcore::OutofcoreOctreeBase::OutofcoreOctreeBase</a></div><div class="ttdeci">OutofcoreOctreeBase(const boost::filesystem::path &amp;root_node_name, const bool load_all)</div><div class="ttdoc">Load an existing tree</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:77</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a584cd23262207c96c2dd9f7479c1ec09"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a584cd23262207c96c2dd9f7479c1ec09">pcl::outofcore::OutofcoreOctreeBase::buildLOD</a></div><div class="ttdeci">void buildLOD()</div><div class="ttdoc">Generate multi-resolution LODs for the tree, which are a uniform random sampling all child leafs belo...</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:560</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a5e45f536c703b713034fb558ffb120a8"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a5e45f536c703b713034fb558ffb120a8">pcl::outofcore::OutofcoreOctreeBase::writeVPythonVisual</a></div><div class="ttdeci">void writeVPythonVisual(const boost::filesystem::path filename)</div><div class="ttdoc">Write a python script using the vpython module containing all the bounding boxes</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:433</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a6fc174b7881c9398c29c3f475c8f859d"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a6fc174b7881c9398c29c3f475c8f859d">pcl::outofcore::OutofcoreOctreeBase::getBoundingBox</a></div><div class="ttdeci">bool getBoundingBox(Eigen::Vector3d &amp;min, Eigen::Vector3d &amp;max) const</div><div class="ttdoc">Get the overall bounding box of the outofcore octree; this is the same as the bounding box of the roo...</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:362</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a7503db4c6b543960b5de57d545cdb9fa"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a7503db4c6b543960b5de57d545cdb9fa">pcl::outofcore::OutofcoreOctreeBase::getVoxelSideLength</a></div><div class="ttdeci">double getVoxelSideLength() const</div><div class="ttdoc">Gets the smallest (assumed) cubic voxel side lengths. The smallest voxels are located at the max dept...</div><div class="ttdef"><b>Definition:</b> octree_base.h:461</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a775eca5a56a0386a96a34f6ca11b1b04"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a775eca5a56a0386a96a34f6ca11b1b04">pcl::outofcore::OutofcoreOctreeBase::flushToDiskLazy</a></div><div class="ttdeci">void flushToDiskLazy()</div><div class="ttdoc">DEPRECATED - Flush all non leaf nodes' cache</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:453</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a77fd4203868a748bf8671cba4b328297"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a77fd4203868a748bf8671cba4b328297">pcl::outofcore::OutofcoreOctreeBase::getOccupiedVoxelCenters</a></div><div class="ttdeci">void getOccupiedVoxelCenters(AlignedPointTVector &amp;voxel_centers, size_t query_depth) const</div><div class="ttdoc">Returns the voxel centers of all existing voxels at query_depth</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:384</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a78e22dfa93a11f383e9bf878801f17c7"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a78e22dfa93a11f383e9bf878801f17c7">pcl::outofcore::OutofcoreOctreeBase::queryBoundingBox</a></div><div class="ttdeci">virtual void queryBoundingBox(const Eigen::Vector3d &amp;min, const Eigen::Vector3d &amp;max, const int query_depth, const pcl::PCLPointCloud2::Ptr &amp;dst_blob, double percent=1.0)</div><div class="ttdoc">Query all points falling within the input bounding box at query_depth and return a PCLPointCloud2 obj...</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:347</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a7ff969ea904c00109ed88879bde8d83c"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a7ff969ea904c00109ed88879bde8d83c">pcl::outofcore::OutofcoreOctreeBase::checkExtension</a></div><div class="ttdeci">bool checkExtension(const boost::filesystem::path &amp;path_name)</div><div class="ttdoc">Auxiliary function to validate path_name extension is .octree</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:698</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a85c71b6e26801a60d735e8e02810ddd5"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a85c71b6e26801a60d735e8e02810ddd5">pcl::outofcore::OutofcoreOctreeBase::getBinDimension</a></div><div class="ttdeci">bool getBinDimension(double &amp;x, double &amp;y) const</div><div class="ttdoc">Computes the expected voxel dimensions at the leaves</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:525</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a96b5cd1cd503b45587ace58f25261d66"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a96b5cd1cd503b45587ace58f25261d66">pcl::outofcore::OutofcoreOctreeBase::flushToDisk</a></div><div class="ttdeci">void flushToDisk()</div><div class="ttdoc">DEPRECATED - Flush all nodes' cache</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:445</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_a9d5836dca2e0f777f61382e7bbf82b52"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#a9d5836dca2e0f777f61382e7bbf82b52">pcl::outofcore::OutofcoreOctreeBase::printBoundingBox</a></div><div class="ttdeci">void printBoundingBox() const</div><div class="ttdoc">Prints size of the bounding boxes to stdou</div><div class="ttdef"><b>Definition:</b> octree_base.h:494</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_aa529ccd903769b78d419ea8c12a62b93"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aa529ccd903769b78d419ea8c12a62b93">pcl::outofcore::OutofcoreOctreeBase::addPointCloud_and_genLOD</a></div><div class="ttdeci">boost::uint64_t addPointCloud_and_genLOD(pcl::PCLPointCloud2::Ptr &amp;input_cloud)</div><div class="ttdoc">Recursively add points to the tree.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:254</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_aa9a1b79193cb7b3313b5c5a4cabae515"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aa9a1b79193cb7b3313b5c5a4cabae515">pcl::outofcore::OutofcoreOctreeBase::buildLODRecursive</a></div><div class="ttdeci">void buildLODRecursive(const std::vector&lt; BranchNode * &gt; &amp;current_branch)</div><div class="ttdoc">recursive portion of lod builder</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:592</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_aac1a5fb289f9bac470d291f8632e412d"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aac1a5fb289f9bac470d291f8632e412d">pcl::outofcore::OutofcoreOctreeBase::TREE_EXTENSION_</a></div><div class="ttdeci">static const std::string TREE_EXTENSION_</div><div class="ttdoc">defined as &quot;.octree&quot; to append to treepath files</div><div class="ttdef"><b>Definition:</b> octree_base.h:643</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_aaf494098c2abc44725cfe5e9210e2bf0"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aaf494098c2abc44725cfe5e9210e2bf0">pcl::outofcore::OutofcoreOctreeBase::queryBBIncludes_subsample</a></div><div class="ttdeci">void queryBBIncludes_subsample(const Eigen::Vector3d &amp;min, const Eigen::Vector3d &amp;max, uint64_t query_depth, const double percent, AlignedPointTVector &amp;dst) const</div><div class="ttdoc">Returns a random subsample of points within the given bounding box at query_depth.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:338</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_ab9949de562ff8a27b5f59ded5c66228f"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ab9949de562ff8a27b5f59ded5c66228f">pcl::outofcore::OutofcoreOctreeBase::addDataToLeaf</a></div><div class="ttdeci">boost::uint64_t addDataToLeaf(const AlignedPointTVector &amp;p)</div><div class="ttdoc">Recursively add points to the tree</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:208</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_ad68edd845380ab62afecead45d63e84c"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ad68edd845380ab62afecead45d63e84c">pcl::outofcore::OutofcoreOctreeBase::saveToFile</a></div><div class="ttdeci">void saveToFile()</div><div class="ttdoc">Write octree definition &quot;.octree&quot; (defined by octree_extension_) to disk</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:200</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_ad6a7ce11ab3f3b52d0b43cf936e28cf1"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ad6a7ce11ab3f3b52d0b43cf936e28cf1">pcl::outofcore::OutofcoreOctreeBase::enlargeToCube</a></div><div class="ttdeci">void enlargeToCube(Eigen::Vector3d &amp;bb_min, Eigen::Vector3d &amp;bb_max)</div><div class="ttdoc">Auxiliary function to enlarge a bounding box to a cube.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:712</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_ad947ba219d7372986f74557f90d57f9d"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ad947ba219d7372986f74557f90d57f9d">pcl::outofcore::OutofcoreOctreeBase::incrementPointsInLOD</a></div><div class="ttdeci">void incrementPointsInLOD(boost::uint64_t depth, boost::uint64_t inc)</div><div class="ttdoc">Increment current depths (LOD for branch nodes) point count; called by addDataAtMaxDepth in Outofcore...</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:684</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_add153493b87d05fe3056c915af660e09"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#add153493b87d05fe3056c915af660e09">pcl::outofcore::OutofcoreOctreeBase::queryBBIntersects</a></div><div class="ttdeci">void queryBBIntersects(const Eigen::Vector3d &amp;min, const Eigen::Vector3d &amp;max, const boost::uint32_t query_depth, std::list&lt; std::string &gt; &amp;bin_name) const</div><div class="ttdoc">Get a list of file paths at query_depth that intersect with your bounding box specified by min and ma...</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:416</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_ae45a9210229dff9276e79796147b941c"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ae45a9210229dff9276e79796147b941c">pcl::outofcore::OutofcoreOctreeBase::addDataToLeaf_and_genLOD</a></div><div class="ttdeci">boost::uint64_t addDataToLeaf_and_genLOD(AlignedPointTVector &amp;p)</div><div class="ttdoc">Recursively add points to the tree subsampling LODs on the way.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:270</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_ae79f800d8cf85af8c175eef668e773a6"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ae79f800d8cf85af8c175eef668e773a6">pcl::outofcore::OutofcoreOctreeBase::calculateDepth</a></div><div class="ttdeci">boost::uint64_t calculateDepth(const Eigen::Vector3d &amp;min_bb, const Eigen::Vector3d &amp;max_bb, const double leaf_resolution)</div><div class="ttdoc">Auxiliary function to compute the depth of the tree given the bounding box and the desired size of th...</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:729</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_ae9c467ba6aef4639fc870bb78d5585ce"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#ae9c467ba6aef4639fc870bb78d5585ce">pcl::outofcore::OutofcoreOctreeBase::setLODFilter</a></div><div class="ttdeci">void setLODFilter(const pcl::Filter&lt; pcl::PCLPointCloud2 &gt;::Ptr &amp;filter_arg)</div><div class="ttdoc">Sets the filter to use when building the levels of depth. Recommended filters are pcl::RandomSample&lt;p...</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:517</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_aeb7b74e9982817c45349b4bfdc951b69"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#aeb7b74e9982817c45349b4bfdc951b69">pcl::outofcore::OutofcoreOctreeBase::root_node_</a></div><div class="ttdeci">OutofcoreNodeType * root_node_</div><div class="ttdoc">Pointer to the root node of the octree data structure</div><div class="ttdef"><b>Definition:</b> octree_base.h:633</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html_af9935cc37d3d7a446d73ab14636b5496"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html#af9935cc37d3d7a446d73ab14636b5496">pcl::outofcore::OutofcoreOctreeBase::addPointCloud</a></div><div class="ttdeci">boost::uint64_t addPointCloud(PointCloudConstPtr point_cloud)</div><div class="ttdoc">Copies the points from the point_cloud falling within the bounding box of the octree to the out-of-co...</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:224</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_metadata_html"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_metadata.html">pcl::outofcore::OutofcoreOctreeBaseMetadata</a></div><div class="ttdoc">Encapsulated class to read JSON metadata into memory, and write the JSON metadata associated with the...</div><div class="ttdef"><b>Definition:</b> outofcore_base_data.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">pcl::outofcore::OutofcoreOctreeBaseNode</a></div><div class="ttdoc">OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree,...</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a02626db7622e8b8734750987ec66f973"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a02626db7622e8b8734750987ec66f973">pcl::outofcore::OutofcoreOctreeBaseNode::getBoundingBox</a></div><div class="ttdeci">virtual void getBoundingBox(Eigen::Vector3d &amp;min_bb, Eigen::Vector3d &amp;max_bb) const</div><div class="ttdoc">gets the minimum and maximum corner of the bounding box represented by this node</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:137</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a4f620ffb1ce5fdf0e2d0bd93b1617e9a"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a4f620ffb1ce5fdf0e2d0bd93b1617e9a">pcl::outofcore::OutofcoreOctreeBaseNode::m_tree_</a></div><div class="ttdeci">OutofcoreOctreeBase&lt; ContainerT, PointT &gt; * m_tree_</div><div class="ttdoc">The tree we belong to</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:534</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a592ba5034ef1efc36a9ebaeb7d06d92a"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a592ba5034ef1efc36a9ebaeb7d06d92a">pcl::outofcore::OutofcoreOctreeBaseNode::size</a></div><div class="ttdeci">boost::uint64_t size() const</div><div class="ttdoc">Number of points in the payload</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:467</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a5afa8b2a7f8a4f2d21dbcc9cb749c993"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a5afa8b2a7f8a4f2d21dbcc9cb749c993">pcl::outofcore::OutofcoreOctreeBaseNode::payload_</a></div><div class="ttdeci">boost::shared_ptr&lt; ContainerT &gt; payload_</div><div class="ttdoc">what holds the points. currently a custom class, but in theory you could use an stl container if you ...</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:558</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
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